CN113039117B - 转向控制装置 - Google Patents

转向控制装置 Download PDF

Info

Publication number
CN113039117B
CN113039117B CN201980071491.XA CN201980071491A CN113039117B CN 113039117 B CN113039117 B CN 113039117B CN 201980071491 A CN201980071491 A CN 201980071491A CN 113039117 B CN113039117 B CN 113039117B
Authority
CN
China
Prior art keywords
control
command
assist
limit value
following
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201980071491.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN113039117A (zh
Inventor
青木崇
片冈资章
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Publication of CN113039117A publication Critical patent/CN113039117A/zh
Application granted granted Critical
Publication of CN113039117B publication Critical patent/CN113039117B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0409—Electric motor acting on the steering column
    • B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
CN201980071491.XA 2018-11-02 2019-10-17 转向控制装置 Active CN113039117B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018-207499 2018-11-02
JP2018207499A JP7056518B2 (ja) 2018-11-02 2018-11-02 ステアリング制御装置
PCT/JP2019/040850 WO2020090493A1 (ja) 2018-11-02 2019-10-17 ステアリング制御装置

Publications (2)

Publication Number Publication Date
CN113039117A CN113039117A (zh) 2021-06-25
CN113039117B true CN113039117B (zh) 2023-05-12

Family

ID=70463088

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980071491.XA Active CN113039117B (zh) 2018-11-02 2019-10-17 转向控制装置

Country Status (4)

Country Link
US (1) US12024241B2 (enrdf_load_stackoverflow)
JP (1) JP7056518B2 (enrdf_load_stackoverflow)
CN (1) CN113039117B (enrdf_load_stackoverflow)
WO (1) WO2020090493A1 (enrdf_load_stackoverflow)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220297744A1 (en) * 2019-09-13 2022-09-22 Honda Motor Co., Ltd. Vehicle steering system
KR20210085611A (ko) * 2019-12-31 2021-07-08 현대모비스 주식회사 전동식 조향장치의 제어장치 및 그 방법
JP7283410B2 (ja) * 2020-02-14 2023-05-30 株式会社デンソー 操舵制御装置、操舵制御方法、および操舵制御プログラム
JP7433410B2 (ja) * 2020-02-27 2024-02-19 三菱電機株式会社 操舵制御装置
CN113753122B (zh) * 2020-06-05 2022-11-01 广州汽车集团股份有限公司 电动助力转向控制方法、电动助力转向系统及存储介质
JP7261782B2 (ja) 2020-10-29 2023-04-20 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7186206B2 (ja) 2020-10-29 2022-12-08 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
DE102021202482B4 (de) * 2021-03-15 2023-06-29 Continental Automotive Technologies GmbH Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs
JP7616125B2 (ja) * 2022-03-02 2025-01-17 トヨタ自動車株式会社 制御装置、操舵装置、制御方法、プログラム

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9637166B2 (en) * 2013-04-04 2017-05-02 Nsk Ltd. Electric power steering apparatus
JP6273706B2 (ja) 2013-07-19 2018-02-07 株式会社デンソー モータ制御装置
JP6213033B2 (ja) * 2013-08-09 2017-10-18 株式会社デンソー モータ制御装置
US9796410B2 (en) 2016-01-28 2017-10-24 Denso Corporation Motor controller
US9586619B1 (en) * 2016-02-12 2017-03-07 Denso Corporation Motor controller
JP6512539B2 (ja) * 2016-06-06 2019-05-15 日本精工株式会社 電動パワーステアリング装置
JP6617654B2 (ja) 2016-07-15 2019-12-11 株式会社デンソー 車両の運転支援装置
JP6729155B2 (ja) * 2016-08-08 2020-07-22 株式会社ジェイテクト アクチュエータ制御装置
JP6875813B2 (ja) * 2016-09-23 2021-05-26 Ｋｙｂ株式会社 電動パワーステアリング装置
JP6528786B2 (ja) * 2017-01-13 2019-06-12 トヨタ自動車株式会社 車両の運転支援装置
US10996673B1 (en) * 2017-09-28 2021-05-04 Apple Inc. Manual override

Also Published As

Publication number Publication date
JP7056518B2 (ja) 2022-04-19
US12024241B2 (en) 2024-07-02
US20210245796A1 (en) 2021-08-12
CN113039117A (zh) 2021-06-25
JP2020069990A (ja) 2020-05-07
WO2020090493A1 (ja) 2020-05-07

Similar Documents

Publication Publication Date Title
CN113039117B (zh) 转向控制装置
JP7116888B2 (ja) モータ制御装置
JP6213033B2 (ja) モータ制御装置
CN107697153B (zh) 作动器控制装置
JP5068327B2 (ja) 操舵制御装置
US10035538B2 (en) Electric power steering system with motor controller
JP5206170B2 (ja) 車両用操舵制御装置及び方法
EP3808621B1 (en) Actuator control device used in steering of vehicle
CN107792166B (zh) 转向控制装置
CN110937015B (zh) 电机控制装置和电机控制方法
JP7256958B2 (ja) 電動パワーステアリング装置
US11383760B2 (en) Steering system
CN108688716B (zh) 转向操纵控制装置
JP2019098825A (ja) 電動パワーステアリング装置
JP2018030481A (ja) 操舵制御装置
CN114194281A (zh) 转向操纵装置
JP5401875B2 (ja) 車両用舵角検出装置及びこれを使用した電動パワーステアリング装置
JP4807015B2 (ja) 電動パワーステアリング制御装置
EP3939861B1 (en) Steering device
CN117396393A (zh) 转向控制装置
JP7578076B2 (ja) ステアリング制御装置
JP7615896B2 (ja) ステアリング制御装置
WO2024224627A1 (ja) モータ制御装置
JP2018197078A (ja) 操舵支援装置、操舵支援方法及びプログラム

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant